How to fix the esc and the abs on a 06 hyundai

dear friend-please take note that the esc and abs works back to back meaning that the esc applies brakes when wheel is spinning and abs release the brakes when wheel is in lock-up,these functions gets a signal from the wheel sensors,if one of the wheel sensors is damaged the lights will stay on,i think you should hook up to a scanner before repairing anything.